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18184 Commits

Author SHA1 Message Date
ziltoid2 b9dd6b7aac Plane: prevent delayed compass HIL data from disabling compass at system startup only 2015-08-23 16:48:48 +10:00
ziltoid2 0b1a997800 AP_IntertialSensor: don't require acceleration calibration in hil mode 2015-08-23 16:48:48 +10:00
Randy Mackay 43fa9c8ae3 Copter: fix Autotune param descriptions 2015-08-23 14:56:41 +09:00
Randy Mackay a10a74d498 Copter: AUTOTUNE_MIN_D param to allow controlling minimum D 2015-08-23 14:56:39 +09:00
Lucas De Marchi a2d17b87c7 Tools: add realpath to ubuntu prerequisites 
The realpath tool may be missing on a Ubuntu distro and we use it in
sim_vehicle.sh.  Make sure it's also installed as part of sitl packages.

On Archlinux it's part of the coreutils package which is part of the
base group. Therefore it's guaranteed to be available.

Fix #2730.
 2015-08-23 11:14:53 +09:00
Randy Mackay 15fc689085 AC_WPNav: remove unused get_wp_radius 2015-08-23 11:06:19 +09:00
Randy Mackay 6a4f4c5f8d Copter: failsafe RTL vs LAND decision always based on 2m 
Previously this decision was based on the WPNAV_RADIUS parameter which is unexpected (and undocumented) behaviour.  Better just to hard-code it to 2m and remove the dependency on this parameter.
 2015-08-23 11:03:35 +09:00
dgrat 58e2ac4e56 Filter: Template implementation for <Filter> 
There are implementations for float, Vector2f and Vector3f for the Low
Pass Filter and the *2p filter.  I tried to implement these filters
with one common template implementation.  This implementation saves
some lines of code and reduced the redundancy.  One could save even
more code if the currently overloaded isinf/isnan functions and checks
can be removed.

Signed-off-by: Daniel Frenzel <dgdanielf@gmail.com>
 2015-08-23 11:17:02 +10:00
Tom Pittenger 37336bbbe1 Plane: moved is_flying related code to its own file 2015-08-23 10:34:19 +10:00
Tom Pittenger 204ff7b158 Plane: move statics into new struct 
removed default case statements
 2015-08-23 10:34:18 +10:00
Tom Pittenger 6d0ad05192 GCS_Mavlink: added is_crashed to mavlink heartbeat status which shows EMERGENCY 2015-08-23 10:34:18 +10:00
Tom Pittenger da8f4f9e95 Plane: reworked is_flying 
add crash detection, allow disengage via param CRASH_DETECT
improved is_flying behavior
take off, landing and hard-landing improvements
add stillness check to is_flying and log it
minimum airspeed is determined ARSPD_FBW_MIN*0.75
 2015-08-23 10:34:18 +10:00
Tom Pittenger 2620a57700 AP_InertialSensor: Added is_still() check 
very strict check that all axis are not vibrating much at all
new param: INS_STILL_THRESH used to be a vibration threshold for different platforms
// @Description: Threshold to tolerate vibration to determine if vehicle is motionless. This depends on the frame type and if there is a constant vibration due to motors before launch or after landing. Total motionless is about 0.05. Suggested values: Planes/rover use 0.1, multirotors use 1, tradHeli uses 5
 2015-08-23 10:34:17 +10:00
squilter fb1bb3f571 GCS_MAVLink: make arguments mandatory for send_autopilot_version 2015-08-23 09:21:59 +09:00
squilter d421644f3a Plane: define and send FIRMWARE_VERSION 2015-08-23 09:21:57 +09:00
squilter 979763c341 Tracker: define and send FIRMWARE_VERSION 2015-08-23 09:21:55 +09:00
squilter 06eb53402f Rover: define and send FIRMWARE_VERSION 2015-08-23 09:21:53 +09:00
Andrew Tridgell e889886e07 AP_HAL: start with the vehicle disarmed 
this prevents a race condition on startup that can cause a UAVCAN ESC
to run while the vehicle is booting
 2015-08-23 09:49:52 +10:00
Andrew Tridgell 31f20db139 AP_GPS: provide hdop and speed accuracy with UAVCAN GPS 2015-08-23 09:49:52 +10:00
squilter a11227af84 Copter: define and send FIRMWARE_VERSION 2015-08-21 22:40:52 +09:00
squilter c4c63da163 GCS_MAVLink: send_autopilot_version accepts version 2015-08-21 22:40:51 +09:00
Randy Mackay a317fb40fc GCS_MAVLink: version update after common.xml change 2015-08-21 22:40:50 +09:00
squilter c10e90f837 GCS_MAVLink: regenerate common 2015-08-21 22:40:49 +09:00
Randy Mackay 79c9269891 GCS_MAVLink: rename FIRMWARE_VERSION_TYPE and fully qualify items 2015-08-21 22:40:48 +09:00
squilter 6621ecc68f GCS_MAVLink: Add FIRMWARE_RELEASE_TYPE to common.xml 2015-08-21 22:40:47 +09:00
Andrew Tridgell 426fcc95fb PX4Firmware: submodule update 2015-08-21 16:20:02 +10:00
Tom Pittenger 220163e269 AP_InertialSensor: correct USE param storage index 
USE, USE2, USE3 have 20, 21, 21 but should be 20, 21, 22
 2015-08-21 11:35:37 +09:00
Michael Day f20beecb0b Plane: Climb/descent "intent" param with CONTINUE_AND_CHANGE_ALT 
Param 1 of CONTINUE_AND_CHANGE_ALT now denotes which direction the
user expects the plane to travel when changing altitude:

0 = no expectation, command completes when within 5 m of altitude.
1 = climb expected, command completes at or above altitude.
2 = descent expected, command completes at or below altitude.
 2015-08-20 11:37:17 +10:00
Michael Day a5e1d8e902 AP_Mission: Give CONINTUE_AND_CHANGE_ALT a parameter: climb/descend 
Param 1 denotes which direction the user expects the plane to
travel when changing altitude:

0 = no expectation, command completes when within 5 m of altitude.
1 = climb expected, command completes at or above altitude.
2 = descent expected, command completes at or below altitude.
 2015-08-20 11:37:17 +10:00
Andrew Tridgell f66174a1ce Plane: improved 3.4.0 release notes 2015-08-20 11:30:28 +10:00
Andrew Tridgell 0c833b76b7 Plane: update release notes for 3.4.0beta1 2015-08-20 11:11:28 +10:00
Randy Mackay f0b992f01e Copter: AC3.3-rc9 release notes 2015-08-20 10:04:55 +09:00
Andrew Tridgell b1f810fbb9 Plane: prepare plane 3.4.0beta1 release 2015-08-20 10:53:48 +10:00
Andrew Tridgell 1cd5b9da9b scripts: use AVR specific branches for builds for APM1/APM2 2015-08-20 10:45:00 +10:00
Randy Mackay ec2bc5e41d NavEKF: use maxf when retrieving vibration levels 
This reduces the performance hit that was caused by multiple calls to get_vibration_levels
 2015-08-19 16:44:36 +09:00
Randy Mackay 46c652e42f Math: maxf and minf functions 2015-08-19 16:44:34 +09:00
Randy Mackay 629a5fd714 NavEKF: IMUSwitchState enum 2015-08-19 16:44:31 +09:00
Randy Mackay c179ed5253 NavEKF: IMU ratio set to primary accel when neither IMU is used 
This forces the EKF IMU ratio to indicate which IMU is used except that it will be "0" in the unlikely case that the third IMU is used
 2015-08-19 16:44:28 +09:00
Paul Riseborough 559cc29635 AP_NavEKF: Add hysteresis to IMU switching logic 2015-08-19 16:44:26 +09:00
Paul Riseborough 12e884ba6b AP_NavEKF: Modify method used to check for vibration errors 
This method checks for consistency between accelerometer readings and switches to the unit with the lowest vibration of the difference exceeds 0.3g
The threshold of 1.7 m/s/s corresponds to a maximum tilt error of 10 deg assuming one IMU is good, one is bad and the EKF is using the bad IMU.
 2015-08-19 16:44:24 +09:00
Randy Mackay a7569e3a61 AHRS_NavEKF: integrate INS use_accel 2015-08-19 16:44:22 +09:00
Randy Mackay 7f46cc9059 AHRS_DCM: integrate INS use_accel 2015-08-19 16:44:19 +09:00
Randy Mackay 0b981d38e8 NavEKF: incorporate use_gyro and use_accel 2015-08-19 16:44:17 +09:00
Randy Mackay e5615ec349 INS: add USE parameters 2015-08-19 16:44:15 +09:00
Randy Mackay affbd67c43 InertialSensor: add vibration monitoring of 2nd IMU 2015-08-19 16:44:12 +09:00
Tom Pittenger 85027e1997 Tracker: moved gcs code to be more common 2015-08-19 15:42:08 +10:00
Tom Pittenger 2319bdb068 Rover: queue MISSION_ITEM_REACHED 
clean up unreachable code
 2015-08-19 15:42:08 +10:00
Tom Pittenger 87d0b12c7c Copter: implement try send mission_item_reached 
clean up unreachable code
 2015-08-19 15:42:07 +10:00
Tom Pittenger 86e3116fb6 Plane: implement try send mission_item_reached 
clean up unreachable code
 2015-08-19 15:42:07 +10:00
Tom Pittenger 1dd8b9d363 GCS_MAVLink: add support for try send mission_item_reached 
also moved most of send_item_reached into common library
 2015-08-19 15:26:32 +10:00